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Bagheri, V., Hoseini, S. (2021). Designing of a Leader-Follower Formation Controller Based on Leader-Follower Flocking with a Virtual Leader for the Clusters of UAVs. Electronic and Cyber Defense, 2(1), 45-54.
Vahid Bagheri; Seyed Hasan Hoseini. "Designing of a Leader-Follower Formation Controller Based on Leader-Follower Flocking with a Virtual Leader for the Clusters of UAVs". Electronic and Cyber Defense, 2, 1, 2021, 45-54.
Bagheri, V., Hoseini, S. (2021). 'Designing of a Leader-Follower Formation Controller Based on Leader-Follower Flocking with a Virtual Leader for the Clusters of UAVs', Electronic and Cyber Defense, 2(1), pp. 45-54.
Bagheri, V., Hoseini, S. Designing of a Leader-Follower Formation Controller Based on Leader-Follower Flocking with a Virtual Leader for the Clusters of UAVs. Electronic and Cyber Defense, 2021; 2(1): 45-54.

Designing of a Leader-Follower Formation Controller Based on Leader-Follower Flocking with a Virtual Leader for the Clusters of UAVs

مجله نوآوری های فناوری اطلاعات و ارتباطات کاربردی
Volume 2, Issue 1, March 2022, Pages 45-54    PDF (1.15 M)
Document Type: Original Article
Authors
Vahid Bagheri; Seyed Hasan Hoseini*
Supreme University and Research Institute of National Defense and Strategic Research
Receive Date: 27 July 2021,  Revise Date: 23 November 2021,  Accept Date: 08 March 2022 
Abstract
The flocking of fish or birds can be modeled with multiagent systems. Likewise, their flocking behavior arises from three simple rules developed by Craig Reynolds, including separation, alignment, and cohesion. This paper aims to design a controller to deliver postal packages of an area or district using a group of Unmanned Aerial vehicles (UAVs). To accomplish this task, consider multiple groups of UAVs with distinct leader-follower controllers using formation control to deliver the postal packages to desired areas. In each group of UAV agents, it exists one leader and multiple follower agents in which the number of leader agents in each group is equal to the number of existing groups. The leader of each group establishes communication between these groups. According to Reynolds rules, the flocking controller is a good choice for the leader agents. A virtual leader agent accompanies the proposed flocking controller in this paper. The leader UAV agents will follow the virtual leader using the flocking controller by controlling this virtual agent. The advantages of the proposed method include low computational complexity, short computational time, high processing speed, low bandwidth, cost efficiency, and easy implementation. Simulation results show the proposed controller's fault tolerance ability in case one faulty follower-leader agent exists in the closed-loop system.
Keywords
Follower; Leader; Virtual leader; Formation; Reynolds rules; Flocking; Potential Function; Consensus
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